A study of driving trajectory for standing-up motion support system

Eiji Kobayashi, Takashi Yoshimi, Nobuto Matsuhira, Makoto Mizukawa, Yoshinobu Ando

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this study, we focus on the standing-up motion assist for elderly people, and we are developing a standing-up motion support system, because the support of stand-up motion is the most physically burdened task for caregivers. The system is designed to be used easily and can carry out minimum necessary support for elderly people by moving the handle. The support system consists of two electric sliders and a handle with 6-axis force torque sensor. In this paper, we aim to get a suitable trajectory of the handle which is comfortable and effective for the system users to support standing-up motion. Then, we proposed three kinds of trajectories and evaluated them through experiments. From the evaluation results, we found that a circular arc trajectory from start to end point with constant speed is the most suitable trajectory for the standing-up support system for the elderly.

Original languageEnglish
Title of host publication2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Print)9781479978625
DOIs
Publication statusPublished - 2015 Sep 8
Event10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia
Duration: 2015 May 312015 Jun 3

Other

Other10th Asian Control Conference, ASCC 2015
CountryMalaysia
CityKota Kinabalu
Period15/5/3115/6/3

Keywords

  • Standing-up motion
  • Support system

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Kobayashi, E., Yoshimi, T., Matsuhira, N., Mizukawa, M., & Ando, Y. (2015). A study of driving trajectory for standing-up motion support system. In 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 [7244765] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASCC.2015.7244765